xref: /dports/cad/cura-engine/CuraEngine-fadb5d6b/src/gcodeExport.h

//Copyright (c) 2019 Ultimaker B.V.
//CuraEngine is released under the terms of the AGPLv3 or higher.

#ifndef GCODEEXPORT_H
#define GCODEEXPORT_H

#include <deque> // for extrusionAmountAtPreviousRetractions
#ifdef BUILD_TESTS
    #include <gtest/gtest_prod.h> //To allow tests to use protected members.
#endif
#include <sstream> // for stream.str()
#include <stdio.h>

#include "utils/AABB3D.h" //To track the used build volume for the Griffin header.
#include "timeEstimate.h"
#include "settings/EnumSettings.h"
#include "settings/Settings.h" //For MAX_EXTRUDERS.
#include "settings/types/Temperature.h" //Bed temperature.
#include "settings/types/Velocity.h"
#include "utils/IntPoint.h"
#include "utils/NoCopy.h"

namespace cura
{

struct LayerIndex;
class RetractionConfig;
struct WipeScriptConfig;

//The GCodeExport class writes the actual GCode. This is the only class that knows how GCode looks and feels.
//  Any customizations on GCodes flavors are done in this class.
class GCodeExport : public NoCopy
{
#ifdef BUILD_TESTS
    friend class GCodeExportTest;
    friend class GriffinHeaderTest;
    FRIEND_TEST(GCodeExportTest, CommentEmpty);
    FRIEND_TEST(GCodeExportTest, CommentSimple);
    FRIEND_TEST(GCodeExportTest, CommentMultiLine);
    FRIEND_TEST(GCodeExportTest, CommentMultiple);
    FRIEND_TEST(GCodeExportTest, CommentTimeZero);
    FRIEND_TEST(GCodeExportTest, CommentTimeInteger);
    FRIEND_TEST(GCodeExportTest, CommentTimeFloatRoundingError);
    FRIEND_TEST(GCodeExportTest, CommentTypeAllTypesCovered);
    FRIEND_TEST(GCodeExportTest, CommentLayer);
    FRIEND_TEST(GCodeExportTest, CommentLayerNegative);
    FRIEND_TEST(GCodeExportTest, CommentLayerCount);
    FRIEND_TEST(GriffinHeaderTest, HeaderGriffinFormat);
    FRIEND_TEST(GCodeExportTest, HeaderUltiGCode);
    FRIEND_TEST(GCodeExportTest, HeaderRepRap);
    FRIEND_TEST(GCodeExportTest, HeaderMarlin);
    FRIEND_TEST(GCodeExportTest, HeaderMarlinVolumetric);
    FRIEND_TEST(GCodeExportTest, EVsMmVolumetric);
    FRIEND_TEST(GCodeExportTest, EVsMmLinear);
    FRIEND_TEST(GCodeExportTest, WriteZHopStartDefaultSpeed);
    FRIEND_TEST(GCodeExportTest, WriteZHopStartCustomSpeed);
    FRIEND_TEST(GCodeExportTest, WriteZHopEndZero);
    FRIEND_TEST(GCodeExportTest, WriteZHopEndDefaultSpeed);
    FRIEND_TEST(GCodeExportTest, WriteZHopEndCustomSpeed);
    FRIEND_TEST(GCodeExportTest, insertWipeScriptSingleMove);
    FRIEND_TEST(GCodeExportTest, insertWipeScriptMultipleMoves);
    FRIEND_TEST(GCodeExportTest, insertWipeScriptOptionalDelay);
    FRIEND_TEST(GCodeExportTest, insertWipeScriptRetractionEnable);
    FRIEND_TEST(GCodeExportTest, insertWipeScriptHopEnable);
#endif
private:
    struct ExtruderTrainAttributes
    {
        bool is_primed; //!< Whether this extruder has currently already been primed in this print

        bool is_used; //!< Whether this extruder train is actually used during the printing of all meshgroups
        char extruderCharacter;

        double filament_area; //!< in mm^2 for non-volumetric, cylindrical filament

        double totalFilament; //!< total filament used per extruder in mm^3
        Temperature currentTemperature;
        bool waited_for_temperature; //!< Whether the most recent temperature command has been a heat-and-wait command (M109) or not (M104).
        Temperature initial_temp; //!< Temperature this nozzle needs to be at the start of the print.

        double retraction_e_amount_current; //!< The current retracted amount (in mm or mm^3), or zero(i.e. false) if it is not currently retracted (positive values mean retracted amount, so negative impact on E values)
        double retraction_e_amount_at_e_start; //!< The ExtruderTrainAttributes::retraction_amount_current value at E0, i.e. the offset (in mm or mm^3) from E0 to the situation where the filament is at the tip of the nozzle.

        double prime_volume; //!< Amount of material (in mm^3) to be primed after an unretration (due to oozing and/or coasting)
        Velocity last_retraction_prime_speed; //!< The last prime speed (in mm/s) of the to-be-primed amount

        double last_e_value_after_wipe; //!< The current material amount extruded since last wipe

        unsigned fan_number; // nozzle print cooling fan number

        std::deque<double> extruded_volume_at_previous_n_retractions; // in mm^3

        ExtruderTrainAttributes()
        : is_primed(false)
        , is_used(false)
        , extruderCharacter(0)
        , filament_area(0)
        , totalFilament(0)
        , currentTemperature(0)
        , waited_for_temperature(false)
        , initial_temp(0)
        , retraction_e_amount_current(0.0)
        , retraction_e_amount_at_e_start(0.0)
        , prime_volume(0.0)
        , last_retraction_prime_speed(0.0)
        , fan_number(0)
        { }
    };
    ExtruderTrainAttributes extruder_attr[MAX_EXTRUDERS];
    bool use_extruder_offset_to_offset_coords;
    std::string machine_name;
    std::string machine_buildplate_type;

    std::ostream* output_stream;
    std::string new_line;

    double current_e_value; //!< The last E value written to gcode (in mm or mm^3)

    // flow-rate compensation
    double current_e_offset; //!< Offset to compensate for flow rate (mm or mm^3)
    double max_extrusion_offset; //!< 0 to turn it off, normally 4
    double extrusion_offset_factor; //!< default 1

    Point3 currentPosition; //!< The last build plate coordinates written to gcode (which might be different from actually written gcode coordinates when the extruder offset is encoded in the gcode)
    Velocity currentSpeed; //!< The current speed (F values / 60) in mm/s
    Acceleration current_print_acceleration; //!< The current acceleration (in mm/s^2) used for print moves (and also for travel moves if the gcode flavor doesn't have separate travel acceleration)
    Acceleration current_travel_acceleration; //!< The current acceleration (in mm/s^2) used for travel moves for those gcode flavors that have separate print and travel accelerations
    Velocity current_jerk; //!< The current jerk in the XY direction (in mm/s^3)

    AABB3D total_bounding_box; //!< The bounding box of all g-code.

    /*!
     * The z position to be used on the next xy move, if the head wasn't in the correct z position yet.
     *
     * \see GCodeExport::writeExtrusion(Point, double, double)
     *
     * \note After GCodeExport::writeExtrusion(Point, double, double) has been called currentPosition.z coincides with this value
     */
    coord_t current_layer_z;
    coord_t is_z_hopped; //!< The amount by which the print head is currently z hopped, or zero if it is not z hopped. (A z hop is used during travel moves to avoid collision with other layer parts)

    size_t current_extruder;
    double current_fan_speed;
    unsigned fan_number; // current print cooling fan number
    EGCodeFlavor flavor;

    std::vector<Duration> total_print_times; //!< The total estimated print time in seconds for each feature
    TimeEstimateCalculator estimateCalculator;

    unsigned int layer_nr; //!< for sending travel data

    bool is_volumetric;
    bool relative_extrusion; //!< whether to use relative extrusion distances rather than absolute
    bool always_write_active_tool; //!< whether to write the active tool after sending commands to inactive tool

    Temperature initial_bed_temp; //!< bed temperature at the beginning of the print.
    Temperature build_volume_temperature;  //!< build volume temperature
    bool machine_heated_build_volume;  //!< does the machine have the ability to control/stabilize build-volume-temperature
protected:
    /*!
     * Convert an E value to a value in mm (if it wasn't already in mm) for the current extruder.
     *
     * E values are either in mm or in mm^3
     * The current extruder is used to determine the filament area to make the conversion.
     *
     * \param e the value to convert
     * \return the value converted to mm
     */
    double eToMm(double e);

    /*!
     * Convert a volume value to an E value (which might be volumetric as well) for the current extruder.
     *
     * E values are either in mm or in mm^3
     * The current extruder is used to determine the filament area to make the conversion.
     *
     * \param mm3 the value to convert
     * \return the value converted to mm or mm3 depending on whether the E axis is volumetric
     */
    double mm3ToE(double mm3);

    /*!
     * Convert a distance value to an E value (which might be linear/distance based as well) for the current extruder.
     *
     * E values are either in mm or in mm^3
     * The current extruder is used to determine the filament area to make the conversion.
     *
     * \param mm the value to convert
     * \return the value converted to mm or mm3 depending on whether the E axis is volumetric
     */
    double mmToE(double mm);

    /*!
     * Convert an E value to a value in mm3 (if it wasn't already in mm3) for the provided extruder.
     *
     * E values are either in mm or in mm^3
     * The given extruder is used to determine the filament area to make the conversion.
     *
     * \param e the value to convert
     * \param extruder Extruder number
     * \return the value converted to mm3
     */
    double eToMm3(double e, size_t extruder);

public:

    GCodeExport();
    ~GCodeExport();

    /*
     * \brief Converts the g-code flavor to a string as it must be printed in
     * the g-code.
     * \param flavor The g-code flavor to print.
     * \return A serialized form of this flavor.
     */
    const std::string flavorToString(const EGCodeFlavor& flavor) const;

    /*!
     * Get the gcode file header (e.g. ";FLAVOR:UltiGCode\n")
     *
     * \param extruder_is_used For each extruder whether it is used in the print
     * \param print_time The total print time in seconds of the whole gcode (if known)
     * \param filament_used The total mm^3 filament used for each extruder or a vector of the wrong size of unknown
     * \param mat_ids The material GUIDs for each material.
     * \return The string representing the file header
     */
    std::string getFileHeader(const std::vector<bool>& extruder_is_used, const Duration* print_time = nullptr, const std::vector<double>& filament_used = std::vector<double>(), const std::vector<std::string>& mat_ids = std::vector<std::string>());

    void setLayerNr(unsigned int layer_nr);

    void setOutputStream(std::ostream* stream);

    bool getExtruderIsUsed(const int extruder_nr) const; //!< return whether the extruder has been used throughout printing all meshgroup up till now

    Point getGcodePos(const coord_t x, const coord_t y, const int extruder_train) const;

    void setFlavor(EGCodeFlavor flavor);
    EGCodeFlavor getFlavor() const;

    void setZ(int z);

    void setFlowRateExtrusionSettings(double max_extrusion_offset, double extrusion_offset_factor);

    /*!
     * Add extra amount of material to be primed after an unretraction.
     *
     * \param extra_prime_distance Amount of material in mm.
     */
    void addExtraPrimeAmount(double extra_prime_volume)
    {
        extruder_attr[current_extruder].prime_volume += extra_prime_volume;
    }

    Point3 getPosition() const;

    Point getPositionXY() const;

    int getPositionZ() const;

    int getExtruderNr() const;

    void setFilamentDiameter(size_t extruder, const coord_t diameter);

    double getCurrentExtrudedVolume() const;

    /*!
     * Get the total extruded volume for a specific extruder in mm^3
     *
     * Retractions and unretractions don't contribute to this.
     *
     * \param extruder_nr The extruder number for which to get the total netto extruded volume
     * \return total filament printed in mm^3
     */
    double getTotalFilamentUsed(size_t extruder_nr);

    /*!
     * Get the total estimated print time in seconds for each feature
     *
     * \return total print time in seconds for each feature
     */
    std::vector<Duration> getTotalPrintTimePerFeature();
    /*!
     * Get the total print time in seconds for the complete print
     *
     * \return total print time in seconds for the complete print
     */
    double getSumTotalPrintTimes();
    void updateTotalPrintTime();
    void resetTotalPrintTimeAndFilament();

    void writeComment(const std::string& comment);
    void writeTypeComment(const PrintFeatureType& type);

    /*!
     * Write an M82 (absolute) or M83 (relative)
     *
     * \param set_relative_extrusion_mode If true, write an M83, otherwise write an M82
     */
    void writeExtrusionMode(bool set_relative_extrusion_mode);

    /*!
     * Write a comment saying what (estimated) time has passed up to this point
     *
     * \param time The time passed up till this point
     */
    void writeTimeComment(const Duration time);

    /*!
     * Write a comment saying that we're starting a certain layer.
     */
    void writeLayerComment(const LayerIndex layer_nr);

    /*!
     * Write a comment saying that the print has a certain number of layers.
     */
    void writeLayerCountComment(const size_t layer_count);

    void writeLine(const char* line);

    /*!
     * Reset the current_e_value to prevent too high E values.
     *
     * The current extruded volume is added to the current extruder_attr.
     */
    void resetExtrusionValue();

    void writeDelay(const Duration& time_amount);

    /*!
     * Coordinates are build plate coordinates, which might be offsetted when extruder offsets are encoded in the gcode.
     *
     * \param p location to go to
     * \param speed movement speed
     */
    void writeTravel(const Point& p, const Velocity& speed);

    /*!
     * Coordinates are build plate coordinates, which might be offsetted when extruder offsets are encoded in the gcode.
     *
     * \param p location to go to
     * \param speed movement speed
     * \param feature the feature that's currently printing
     * \param update_extrusion_offset whether to update the extrusion offset to match the current flow rate
     */
    void writeExtrusion(const Point& p, const Velocity& speed, double extrusion_mm3_per_mm, PrintFeatureType feature, bool update_extrusion_offset = false);

    /*!
     * Go to a X/Y location with the z-hopped Z value
     * Coordinates are build plate coordinates, which might be offsetted when extruder offsets are encoded in the gcode.
     *
     * \param p location to go to
     * \param speed movement speed
     */
    void writeTravel(const Point3& p, const Velocity& speed);

    /*!
     * Go to a X/Y location with the extrusion Z
     * Perform un-z-hop
     * Perform unretraction
     *
     * Coordinates are build plate coordinates, which might be offsetted when extruder offsets are encoded in the gcode.
     *
     * \param p location to go to
     * \param speed movement speed
     * \param feature the feature that's currently printing
     * \param update_extrusion_offset whether to update the extrusion offset to match the current flow rate
     */
    void writeExtrusion(const Point3& p, const Velocity& speed, double extrusion_mm3_per_mm, PrintFeatureType feature, bool update_extrusion_offset = false);
private:
    /*!
     * Coordinates are build plate coordinates, which might be offsetted when extruder offsets are encoded in the gcode.
     *
     * \param x build plate x
     * \param y build plate y
     * \param z build plate z
     * \param speed movement speed
     */
    void writeTravel(const coord_t& x, const coord_t& y, const coord_t& z, const Velocity& speed);

    /*!
     * Perform un-z-hop
     * Perform unretract
     * Write extrusion move
     * Coordinates are build plate coordinates, which might be offsetted when extruder offsets are encoded in the gcode.
     *
     * \param x build plate x
     * \param y build plate y
     * \param z build plate z
     * \param speed movement speed
     * \param extrusion_mm3_per_mm flow
     * \param feature the print feature that's currently printing
     * \param update_extrusion_offset whether to update the extrusion offset to match the current flow rate
     */
    void writeExtrusion(const int x, const int y, const int z, const Velocity& speed, const double extrusion_mm3_per_mm, const PrintFeatureType& feature, const bool update_extrusion_offset = false);

    /*!
     * Write the F, X, Y, Z and E value (if they are not different from the last)
     *
     * convenience function called from writeExtrusion and writeTravel
     *
     * This function also applies the gcode offset by calling \ref GCodeExport::getGcodePos
     * This function updates the \ref GCodeExport::total_bounding_box
     * It estimates the time in \ref GCodeExport::estimateCalculator for the correct feature
     * It updates \ref GCodeExport::currentPosition, \ref GCodeExport::current_e_value and \ref GCodeExport::currentSpeed
     */
    void writeFXYZE(const Velocity& speed, const int x, const int y, const int z, const double e, const PrintFeatureType& feature);

    /*!
     * The writeTravel and/or writeExtrusion when flavor == BFB
     * \param x build plate x
     * \param y build plate y
     * \param z build plate z
     * \param speed movement speed
     * \param extrusion_mm3_per_mm flow
     * \param feature print feature to track print time for
     */
    void writeMoveBFB(const int x, const int y, const int z, const Velocity& speed, double extrusion_mm3_per_mm, PrintFeatureType feature);
public:
    /*!
     * Get ready for extrusion moves:
     * - unretract (G11 or G1 E.)
     * - prime blob (G1 E)
     *
     * It estimates the time in \ref GCodeExport::estimateCalculator
     * It updates \ref GCodeExport::current_e_value and \ref GCodeExport::currentSpeed
     */
    void writeUnretractionAndPrime();
    void writeRetraction(const RetractionConfig& config, bool force = false, bool extruder_switch = false);

    /*!
     * Start a z hop with the given \p hop_height.
     *
     * \param hop_height The height to move above the current layer.
     * \param speed The speed used for moving.
     */
    void writeZhopStart(const coord_t hop_height, Velocity speed = 0);

    /*!
     * End a z hop: go back to the layer height
     *
     * \param speed The speed used for moving.
     */
    void writeZhopEnd(Velocity speed = 0);

    /*!
     * Start the new_extruder:
     * - set new extruder
     * - zero E value
     * - write extruder start gcode
     *
     * \param new_extruder The extruder to start with
     */
    void startExtruder(const size_t new_extruder);

    /*!
     * Switch to the new_extruder:
     * - perform neccessary retractions
     * - fiddle with E-values
     * - write extruder end gcode
     * - set new extruder
     * - write extruder start gcode
     *
     * \param new_extruder The extruder to switch to
     * \param retraction_config_old_extruder The extruder switch retraction config of the old extruder, to perform the extruder switch retraction with.
     * \param perform_z_hop The amount by which the print head should be z hopped during extruder switch, or zero if it should not z hop.
     */
    void switchExtruder(size_t new_extruder, const RetractionConfig& retraction_config_old_extruder, coord_t perform_z_hop = 0);

    void writeCode(const char* str);

    /*!
     * Write the gcode for priming the current extruder train so that it can be used.
     *
     * \param travel_speed The travel speed when priming involves a movement
     */
    void writePrimeTrain(const Velocity& travel_speed);

    /*!
     * Set the print cooling fan number (used as P parameter to M10[67]) for the specified extruder
     *
     * \param extruder The current extruder
     */
    void setExtruderFanNumber(int extruder);

    void writeFanCommand(double speed);

    void writeTemperatureCommand(const size_t extruder, const Temperature& temperature, const bool wait = false);
    void writeBedTemperatureCommand(const Temperature& temperature, const bool wait = false);
    void writeBuildVolumeTemperatureCommand(const Temperature& temperature, const bool wait = false);

    /*!
     * Write the command for setting the acceleration for print moves to a specific value
     */
    void writePrintAcceleration(const Acceleration& acceleration);

    /*!
     * Write the command for setting the acceleration for travel moves to a specific value
     */
    void writeTravelAcceleration(const Acceleration& acceleration);

    /*!
     * Write the command for setting the jerk to a specific value
     */
    void writeJerk(const Velocity& jerk);

    /*!
     * Set member variables using the settings in \p settings.
     */
    void preSetup(const size_t start_extruder);

    /*!
     * Handle the initial (bed/nozzle) temperatures before any gcode is processed.
     * These temperatures are set in the pre-print setup in the firmware.
     *
     * See FffGcodeWriter::processStartingCode
     * \param start_extruder_nr The extruder with which to start this print
     */
    void setInitialAndBuildVolumeTemps(const unsigned int start_extruder_nr);

    /*!
     * Override or set an initial nozzle temperature as written by GCodeExport::setInitialTemps
     * This is used primarily during better specification of temperatures in LayerPlanBuffer::insertPreheatCommand
     *
     * \warning This function must be called before any of the layers in the meshgroup are written to file!
     * That's because it sets the current temperature in the gcode!
     *
     * \param extruder_nr The extruder number for which to better specify the temp
     * \param temp The temp at which the nozzle should be at startup
     */
    void setInitialTemp(int extruder_nr, double temp);

    /*!
     * Finish the gcode: turn fans off, write end gcode and flush all gcode left in the buffer.
     *
     * \param endCode The end gcode to be appended at the very end.
     */
    void finalize(const char* endCode);

    /*!
     * Get amount of material extruded since last wipe script was inserted.
     *
     * \param extruder Extruder number to check.
     */
    double getExtrudedVolumeAfterLastWipe(size_t extruder);

    /*!
     *  Reset the last_e_value_after_wipe.
     *
     * \param extruder Extruder number which last_e_value_after_wipe value to reset.
     */
     void ResetLastEValueAfterWipe(size_t extruder);

    /*!
     *  Generate g-code for wiping current nozzle using provided config.
     *
     * \param wipe_config Config with wipe script settings.
     */
    void insertWipeScript(const WipeScriptConfig& wipe_config);
};

}

#endif//GCODEEXPORT_H